.. _program_listing_file_include_rosbag2_cpp_reindexer.hpp:

Program Listing for File reindexer.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rosbag2_cpp_reindexer.hpp>` (``include/rosbag2_cpp/reindexer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 DCS Corporation, All Rights Reserved.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // DISTRIBUTION A. Approved for public release; distribution unlimited.
   // OPSEC #4584.
   //
   // Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS
   // Part 252.227-7013 or 7014 (Feb 2014).
   //
   // This notice must appear in all copies of this file and its derivatives.
   
   #ifndef ROSBAG2_CPP__REINDEXER_HPP_
   #define ROSBAG2_CPP__REINDEXER_HPP_
   
   #include <filesystem>
   #include <memory>
   #include <regex>
   #include <string>
   #include <vector>
   
   #include "rosbag2_cpp/converter.hpp"
   #include "rosbag2_cpp/reader.hpp"
   #include "rosbag2_cpp/serialization_format_converter_factory.hpp"
   #include "rosbag2_cpp/serialization_format_converter_factory_interface.hpp"
   #include "rosbag2_cpp/visibility_control.hpp"
   
   #include "rosbag2_storage/metadata_io.hpp"
   #include "rosbag2_storage/storage_factory.hpp"
   #include "rosbag2_storage/storage_factory_interface.hpp"
   #include "rosbag2_storage/storage_options.hpp"
   #include "rosbag2_storage/storage_filter.hpp"
   #include "rosbag2_storage/storage_interfaces/read_only_interface.hpp"
   
   // This is necessary because of using stl types here. It is completely safe, because
   // a) the member is not accessible from the outside
   // b) there are no inline functions.
   #ifdef _WIN32
   # pragma warning(push)
   # pragma warning(disable:4251)
   #endif
   
   namespace rosbag2_cpp
   {
   
   class ROSBAG2_CPP_PUBLIC Reindexer
   {
   public:
     Reindexer(
       std::unique_ptr<rosbag2_storage::StorageFactoryInterface> storage_factory =
       std::make_unique<rosbag2_storage::StorageFactory>(),
       std::unique_ptr<rosbag2_storage::MetadataIo> metadata_io =
       std::make_unique<rosbag2_storage::MetadataIo>());
   
     virtual ~Reindexer() = default;
   
     /*
     * \param storage_options Provides best-guess parameters for the bag's original settings.
     */
     void reindex(const rosbag2_storage::StorageOptions & storage_options);
   
   protected:
     std::unique_ptr<rosbag2_storage::StorageFactoryInterface> storage_factory_{};
     std::unique_ptr<rosbag2_storage::MetadataIo> metadata_io_{};
     rosbag2_storage::BagMetadata metadata_{};
     std::vector<rosbag2_storage::TopicMetadata> topics_metadata_{};
   
   private:
     std::string regex_bag_pattern_;
     std::filesystem::path base_folder_;   // The folder that the bag files are in
     std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory_{};
     void get_bag_files(
       const std::filesystem::path & base_folder,
       std::vector<std::filesystem::path> & output);
   
     // Prepares the metadata by setting initial values.
     void init_metadata(
       const std::vector<std::filesystem::path> & files,
       const rosbag2_storage::StorageOptions & storage_options);
   
     // Attempts to harvest metadata from all bag files, and aggregates the result
     void aggregate_metadata(
       const std::vector<std::filesystem::path> & files,
       const std::unique_ptr<rosbag2_cpp::readers::SequentialReader> & bag_reader,
       const rosbag2_storage::StorageOptions & storage_options);
   
     // Comparison function for std::sort with our filepath convention
     bool compare_relative_file(
       const std::filesystem::path & first_path,
       const std::filesystem::path & second_path);
   };
   
   }  // namespace rosbag2_cpp
   
   #ifdef _WIN32
   # pragma warning(pop)
   #endif
   
   #endif  // ROSBAG2_CPP__REINDEXER_HPP_